CN109109838A - Coordinate the design of the emergency braking of the vehicle of row's communication cohesion - Google Patents
Coordinate the design of the emergency braking of the vehicle of row's communication cohesion Download PDFInfo
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- CN109109838A CN109109838A CN201810651085.8A CN201810651085A CN109109838A CN 109109838 A CN109109838 A CN 109109838A CN 201810651085 A CN201810651085 A CN 201810651085A CN 109109838 A CN109109838 A CN 109109838A
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- 238000004891 communication Methods 0.000 title claims abstract description 25
- 238000013461 design Methods 0.000 title abstract description 6
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- 238000000034 method Methods 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 14
- 230000015654 memory Effects 0.000 claims description 5
- 238000007726 management method Methods 0.000 description 38
- 230000006870 function Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000035484 reaction time Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/08—Coordination of integrated systems
Abstract
Present disclosure provides the design of the emergency braking of the vehicle (110) for coordinating a row (100) communication cohesion.In response to emergency (120), management entity (110-3) center by managing the row (100) determines the independent brake control setting of (230) for one or more vehicles (110) of the row (100).One or more vehicles (110) by independent brake control setting from management entity (110-3) communication (240) to the row (100).One or more vehicles (110) of the row (100) are made to brake (250) according to its corresponding independent brake control setting received from management entity (110-3).
Description
Technical field
Present disclosure generally relates to the autonomous drivings in fleet (so-called row), and more particularly relate to control or
Coordinate the emergency braking of the vehicle participated in such row.
Background technique
Vehicle can in a row be increased to road capacity in groups.Vehicle, which is arranged usually using electronic connectors, reduces automobile or truck
The distance between.Especially truck is in a row the interested candidate of transportation department.Truck in a row includes one immediately one
Truck of many equipped with driving assistance system (such as adaptive learning algorithms, ACC).This truck to be driven by intellectual technology
The row of being formed, and be in communication with each other, such as via the Car2Car communication technology.In the case where accompanying truck is braked immediately, reaction
Time is substantially zeroed, can in a row improve traffic safety.When truck with constant speed close to drive together when, in a row can be with
Save cost.In high density in a row (HDPL), even if speed is up to 100km/h, the distance between subsequent truck can be less than
10m, or even less than 5m.This means that lower fuel consumption and less CO2Discharge.And finally, can in a row have
Effect ground increases the magnitude of traffic flow, to reduce fleet long queue (tail-backs).Meanwhile the short distance between vehicle means to occupy
The space of road is less.
In danger or in emergency circumstances, the brake operating that especially HDPL needs the quick of participated in vehicle and coordinates,
These vehicles can have substantially different feature, such as weight, load, braking power etc., to influence their corresponding brakings
Distance.In HDPL, the reaction time for vehicle of accompanying is more than the reaction time harshness in normal row, especially urgent
Braking aspect.Retinue vehicle must react moment.Other problem is the inertia of braking system.Hydraulic braking in truck
System can have the up to reaction time of 700ms until they reach its complete braking effect.To the rising of braking power
It is exponentially.
Summary of the invention
Emergency brake operations this disclosure relates to this coordination arranged for vehicle, and be intended to avoid or at least subtract
Few subsidiary damage, such as rear end collision.
This according to method, system described in independent claims and vehicle by realizing.Dependent claims are related to it
Its advantageous example embodiment.
According in a first aspect, providing a kind of for coordinating the method for the emergency braking of the vehicle of row's communication cohesion.It should
Method include in response to emergency and the management entity by managing or coordinating row determines and is used at least one of the row, multiple
Or the independent brake of even each vehicle controls setting.In addition, this method includes that independent brake control setting is real from management
Body communication is at least one of the row, multiple or even each vehicle.Then according to from management entity management it is received its
The vehicle braking to make the row is arranged in corresponding independent brake control.
Benefit from present disclosure, the skilled person will understand that arriving, the different vehicle of row has different characteristic and therefore has
Different braking distance.Accordingly, there exist the demands to the independent brake control setting for each vehicle.This method can be by adopting
The corresponding braking for coordinating the vehicle participated in center row's management entity of corresponding control for brake setting is provided for each vehicle
Operation.Since center row's management entity exercises supervision to row and its feature for participating in member, independent emergency braking control can be optimized
It sets up and sets to minimize collateral damage, such as the collision between the vehicle participated in.
In some example embodiments, multiple in the vehicle of row can be autonomous or at least partly autonomous vehicle respectively
?.In certain embodiments, vehicle can be autonomous truck.However, the technical staff benefited from present disclosure will
It is understood that vehicle can also be at least partly autonomous bus, automobile or any other interested vehicle.Autonomous vehicle
Its environment can be perceived in the case where not being manually entered and is navigated.Various technologies, which can be used, in autonomous vehicle comes at it
Detection and navigation in ambient enviroment, such as radar, laser, global positioning system (GPS), telemetry and computer vision.It is advanced
Control system can interpret sensory information to identify guidance path and barrier appropriate and related label.
In some example embodiments, multiple vehicles of row can via one or more vehicles to vehicle (V2V) with or
Vehicle communicates with one another to infrastructure (V2I) communication system.V2V and V2I can also be summarised as V2X.V2V refers to being designed to permit
Perhaps the automotive engineering that automobile communicates with one another.V2V or V2I can be based on various basic wireless technologys, such as the IEEE of different editions
802.11 (WiFi), World Interoperability for Microwave Access, WiMax (WiMAX), cellular communication system etc..Therefore, vehicle can be equipped with correspondence
Transmitter and acceptor circuit.
In some example embodiments, management entity is row for other vehicles for serving as subordinate vehicle of row
The vehicle for serving as main vehicle.Therefore management or coordination entity can be the vehicle in the row of participating in.The head of its row of can be
Leading vehicle, but this is not required.In general, it can be in any position in row.Row in have management entity for
It obtains short call duration time and can be advantageous for the therefore acquisition reaction time.
In some example embodiments, determining independent brake control setting indicates or causes corresponding to be administered in phase
The braking power at vehicle that should be participated in and/or time.Therefore, individually system can be used in (electricity) mechanical braking system of independent vehicle
Dynamic control setting accurately activates, to realize corresponding required braking power and/or time.
In some example embodiments, this method, which can also be also comprised, to be notified to management entity about in the row of participating in
The independent feature and/or current state of each vehicle.For example, this can be completed via V2V or V2I communication.Pass through this side
Formula, management entity can be got caught up in about current vehicle parameter, to bring more accurate independent brake control setting.
It therefore, can be based on the current independent feature and/or current state of corresponding vehicle in some example embodiments
To determine the independent brake setting of vehicle.In other words, it can be used accordingly for generating the algorithm of corresponding independent brake setting
Vehicle current independent feature and/or current state as input parameter.Therefore, identified independent brake control can be improved
The accuracy of setting.
In some example embodiments, independent feature and/or current state may include vehicle relevant to emergency braking
Parameter, such as corresponding braking distance.Such independent feature and/or current state may include vehicle dimension (such as length,
Highly, width), vehicle weight, brake power of vehicle, vehicle spacing, car speed, at least one in (a variety of) tire condition etc.
It is a.Such vehicle parameter is communicated to Accurate Prediction and the coordination that management entity allows for independent emergency brake operations.
In some example embodiments, this method can also include the vehicle detection emergency by arranging, and respond
In detection emergency and by emergency message from detection vehicle broadcast to other vehicles of row.For example, detection vehicle can be
Lead the vehicle of the row.In some instances, emergency, such as radar sensing can be detected using environmental sensor appropriate
Device etc..For example, emergency can be close to detection vehicle front there is object or person suddenly.Emergency message can alert institute
There is participation vehicle, and is ready for individual adequate measure (for example, equipping corresponding braking system).
In some example embodiments, this method may be responsive to receive emergency message just from detection vehicle
Beginningization emergency braking and/or brake pressure is established in other vehicles of row.In this way, it is determined individually by management entity
Before or during control for brake setting, corresponding brake pressure can be had been set up.When receiving the setting of corresponding control for brake, it
Can be immediately applied to corresponding braking system, without having any further loss in time.
A kind of system of the vehicle of multiple communication cohesions is provided according to another aspect,.The system includes the first vehicle, is matched
It is set to detection emergency, and in response to emergency detected by emergency message broadcast to other vehicles.The system is also
Including the second vehicle, emergency message is configured to determine the corresponding control for brake parameter for corresponding vehicle, and
And corresponding independent brake control parameter is sent to corresponding vehicle.The system further includes at least third vehicle, is configured to
Its brake setting is adjusted according to its corresponding independent brake control parameter received from the second vehicle.First vehicle can be
It guides or the vehicle for the row of leading and/or the vehicle that an emergency situation is encountered (for example, suddenly close object).Second vehicle can be
Vehicle is coordinated in management, is also referred to as main vehicle.Third vehicle can be another participation vehicle of row.Benefit from present disclosure
The skilled person will understand that arrive, coordinate vehicle can individual features based on each vehicle in the row of participating in and/or current state come
Determine the brake setting of its own and for all other brake setting for participating in vehicle.
According to another aspect, the vehicle including memory is provided, which is configured to one row's communication cohesion of storage
The independent feature and/or current state of other vehicles of vehicle.Vehicle further includes receiver, is configured to receive from the another of row
The emergency message of one vehicle, processor are configured to the independent spy of the storage of emergency message and the vehicle based on row
Sign and/or current state calculate the independent brake control parameter for corresponding vehicle；And transmitter, being configured to will be independent
Control for brake parameter emits to corresponding vehicle.Receiver and transmitter can adapt to the basic V2V communication technology.Benefit from this public affairs
Open content, the skilled person will understand that arriving, which can be used for central management or coordinates row, and more specifically, entirely arrange
Emergency braking.
Detailed description of the invention
Some examples of device and/or method will be described only by example and with reference to attached drawing below, wherein
Fig. 1 shows the example of the multiple at least partly autonomous trucies of a row；
Fig. 2 shows the flow charts of the method for the emergency braking of the vehicle for controlling row's communication cohesion；And
Fig. 3 is shown according to the exemplary block diagram for coordinating main vehicle.
List of numerals
100 vehicles row
110 vehicles, truck
120 emergencies
The method of 200 emergency braking for coordinating row
210 detection emergencies
220 broadcast emergency messages
230 are determined the independent brake control parameter of one or more vehicles for row by the entity of management row
240 independent brake control are arranged one or more vehicles that row is communicated to from management entity
250 brake according to the corresponding independent brake control setting received from management entity
300 management entities
310 memories
320 receivers
330 processors
340 transmitters.
Specific embodiment
Various examples are described more fully with referring now to some exemplary attached drawings are shown.In the figure in order to
For the sake of clear, thickness of line, layer, and or area may be exaggerated.
Therefore, although other examples can have various modifications and alterative version, some particular examples are shown in figure
And it then will be described in.However, other examples are not limited to described particular form by the detailed description.Other examples
The all modifications, equivalent and alternative fallen within the scope of this disclosure can be covered.In the description of entire attached drawing, when
When providing same or similar function, similar number refers to same or similar element, and when comparing each other, these elements can
It is realized by the same manner or in the form of modification.
It will be appreciated that these elements can be directly connected to when element is referred to as " connection " or " connection " to another element
Be coupled or via one or more intermediary elements.If combining two elements A and B using "or", it is interpreted as disclosure
All possible combination, i.e., only A, only B and A and B.Alternative wording for like combinations is " at least one in A and B
It is a ".This is equally applicable to the combination of extra 2 elements.
The term for being used herein for the purpose of description particular example is not intended to be restricted for other examples.No matter
When such as " one ", the singular of "one" and "the" and both indefinite using only discrete component or do not limit impliedly are used
To be enforceable, multiple element is can be used also to implement identical functionality in other examples.Similarly, when then will be functional
It is described as using multiple element come when implementing, discrete component or processing entities are can be used to implement identical function in other examples
Property.It will be further appreciated that described when being specified using term " includes ", " including ", "comprising" and/or when " containing "
Feature, entirety, step, operation, process, movement, the presence of element and/or component, but be not precluded presence or addition one or
A number of other features, entirety, step, operation, process, movement, component, assembly unit and/or any combination of them.
Unless otherwise defined, otherwise all terms (including technical and scientific term) are herein to lead belonging to its example
The ordinary meaning in domain come using.
Although following example relates generally to, truck is in a row, and the technical staff for benefiting from present disclosure will readily appreciate that
It arrives, the principle of present disclosure can be applied to any kind of vehicle row, such as automobile row or bus row.
Fig. 1 schematically shows the truck 110-1,110-2,110- including multiple and different at least partly autonomous drivings
3 example fleet (row) 100 is each provided with driving assistance system (for example, adaptive learning algorithms, ACC), and via one
A or multiple wireless V2V communication systems communicate with one another connection.Benefit from present disclosure the skilled person will understand that arrives, and participates in
The quantity of truck in row can be arbitrary, and three trucies are merely illustrative example.Preferably, 100 institute is arranged
There is truck 110 that can communicate each other.In the example of fig. 1, truck 110-1 can with it is each in truck 110-2 and 110-3
A communication, truck 110-2 can be communicated with each of truck 110-1 and 110-3, and truck 110-3 can be with truck 110-1
With each of 110-2 communication.
Truck 110-1 leads row 100 and uses one or more vehicle environment sensors of its driving assistance system for example
Radar sensor detects or perceives emergency 120.Emergency 120 can be due to occurring suddenly in front of truck 110-1
Unexpected object (such as child), it is therefore desirable to the unexpected and huge braking of truck 110-1, and therefore also need truck of accompanying
The unexpected and huge braking of 110-2,110-3.As previously mentioned, the respective distance between truck can be, for example, less than with very little
10m, or even less than 5m.In view of the speed of row 100 is, for example, 100km/h, this small truck spacing needs each participation
The intelligence of truck 110-1,110-2,110-3 and the brake operating coordinated, to avoid collision.As it will be seen from figure 1 that participating in
Truck 110-1,110-2,110-3 can have different sizes, different weight, and different loads can use different
Technology etc..Therefore, the braking action of each truck will depend on its independent feature.In order to avoid or at least minimize subsidiary damage
Evil (such as collision between truck 110-1,110-2,110-3), the present disclosure presents the urgent systems for coordinating row 100
Dynamic design.
The flow chart of the method 200 according to the design proposed is shown in FIG. 2.
Method 200 includes, in the case where emergency 120 detected, by manage or coordinate row central entities Lai
Determine that 230 control setting/parameter for arranging the independent brake of 100 each truck 110-1,110-2,110-3.In some implementations
In scheme, detection truck 110-1 is optionally independent voluntarily to determine that its control for brake is arranged to obtain the faster response time simultaneously
Avoid barrier.In addition to this, independent brake control setting/parameter is that center determines for the person of lining up.It is noted that
It is that management entity can also be remote entity, such as remote server, as long as remote entity and truck 110-1,110-2,110-
Communication between 3 is sufficiently fast (for example, with several milliseconds grade).Preferably, management entity be participate in row 100 in truck or by
It is formed.In the example of fig. 1, management entity is truck 110-3, as the main vehicle of other truck 110-1 and 110-2,
Therefore its truck 110-1 and 110-2 can be considered as subordinate vehicle.Method 200 further include by independent brake control setting/parameter from
Management entity (such as truck 110-3) communicates 240 to the member's truck for arranging 100.It should be noted that truck 110-3 also will certainly
Control for brake setting/the parameter of its own is communicated to oneself, i.e. its braking system.Then, 100 truck 110-1,110-2 are arranged,
110-3 can make according to from its received corresponding independent brake control setting/parameter of management entity (such as truck 110-3)
Dynamic 250.
In basic embodiment, different truck 110-1 are used for, the independent brake of 110-2,110-3 to control setting/parameter
It can be scheduled fixed setting/parameter that management entity (such as truck 110-3) may store.However, can be advantageous
It is that, based on each truck 110-1 that can continuously update, the current independent feature and/or current state of 110-2,110-3 determine
Independent brake controls setting/parameter.For this purpose, method 200 optionally includes (continuously) to management entity (such as truck 110-
3) the independent feature and/or current state of each truck 110-1,110-2,110-3 about row 100 are notified.Here, V2V is logical
Letter technology, which can be used for updating vehicle-state from subordinate truck 110-1,110-2, is communicated to main card vehicle 110-3.This state is more
Newly may include information about vehicle parameter, for example, current vehicle weight, current vehicle braking power, current vehicle spacing,
Current vehicle speed, present tire state etc..Then these current vehicles ginseng can be used in management entity (such as truck 110-3)
Number is for making corresponding control for brake setting/parameter adaptation of each truck 110 in emergency 120.For example, each truck
State updates can via corresponding status message and periodically or event-driven ground (such as when changing state) hair
It send to management entity (such as truck 110-3).
In order to notify management entity (such as truck 110-3) about emergency 120, truck 110-1 be may be in response to promptly
The detection 210 (see optional movement 220) of situation 120 and sends emergency message or signal.It only in some embodiments, can will be tight
Anxious message is sent to management entity (such as truck 110-3).Benefit from present disclosure the skilled person will understand that arrive, if card
Vehicle 110-1 itself is the management entity for arranging 100, then may not be needed to send emergency message.Preferably, emergency message can broadcast to
The truck 110-1,110-2,110-3 of each participation of row 100.In the case where receiving emergency message, each truck 110-
1,110-2,110-3 learns emergency 120 and can star preparation appropriate.For example, truck 110-2,110-3 (and card
Vehicle 110-1 itself) corresponding emergency braking can be started and/or may be in response to (reception) to come from the emergency message of truck 110-1
Begin setting up brake pressure.
In addition, in the case where receiving from the emergency message of truck 110-1, management entity (such as truck 110-3)
It can calculate and one or more or even each best control for brake of truck 110-1,110-2,110-3 of row 100 are set
Set/parameter (for example, amount of corresponding brake pressure to be applied).As previously mentioned, truck 110-1,110-2,110-3 can be based on
Newest vehicle parameter calculate corresponding control for brake setting/parameter.Corresponding control for brake setting/parameter causes different cards
The independent brake behavior of vehicle 110-1,110-2,110-3.Benefit from present disclosure the skilled person will understand that arrive, for example, weight
It measures the heavier truck of the possible weight/power ratio of lighter truck and needs less braking power.In some instances, control for brake setting/
Parameter may also include for avoiding in the steering command that rear end collision occurs with the truck of front.Certainly, road and/or traffic item
Part must be allowed for this selection.
In the case where calculating independent brake control setting/parameter, management entity (such as truck 110-3) is by control for brake
Setting/parameter is communicated to corresponding truck, allow the latter according to from management entity (such as truck 110-3) it is received setting/
Its brake setting of parameter adaptation.It, can be immediately in the case where having been set up brake pressure (due to the emergency message of front)
The system being adapted in different truck 110-1,110-2,110-3 according to the order from management entity (such as truck 110-3) occurs
Dynamic power.
It should be noted that detection truck 110-1 can also independent action in some embodiments.Since it is that detection is urgent
This vehicle of situation, truck 110-1 can execute its emergency brake operations independently of management entity (such as truck 110-3), so as to
Realize reaction as most fast as possible, and to avoid barrier.However, truck 110-1 can be broadcasted tightly to other members of row
Anxious message, especially to main card vehicle 110-3, then urgent system of its at least remaining the truck 110-2,110-3 that can coordinate row
It is dynamic.
Fig. 3 is provided by the schematic block diagram of the truck 110-3 central management entity 300 formed.
In order to serve as central management entity 300, truck 110-3 can have memory 310, be configured to storage row's 100
The independent feature and/or current state of other vehicle 110-1,110-2.In addition, truck 110-3 matches equipped with receiver 320
The emergency message for being set to another vehicle 110-1 of the reception from row 100 (comes note that receiver 320 can extraly be configured to receive
From the status message of other vehicles).Digital processing unit 330 is configured to the storage of emergency message and the vehicle based on row 100
The independent feature and/or current state deposited calculates the independent brake control parameter for corresponding vehicle.Transmitter 340 configures
Emit at by independent brake control parameter to corresponding vehicle.Benefit from present disclosure the skilled person will understand that arriving, receiver
It may include wireless receiver and transmitter circuit, including low-noise amplifier, power amplifier, analog-to-digital conversion with transmitter
Device, digital analog converter, antenna etc..As previously mentioned, receiver and transmitter can be configured for V2X communication, cellular radio Communication
Or combinations thereof.
The aspect and feature for referring to and describing together with one or more of example and figure detailed earlier herein can also be with it
One or more combinations in its example, to replace the similar features of other examples, or to be additionally introduced to feature
Other examples.
When executing computer program on a computer or a processor, example can also be or be related to computer program,
It has the program code for executing one or more of above method.The step of above-mentioned various methods, operation or process
It can be executed by the computer or processor programmed.Example can also cover the program storage of such as digital data storage medium,
It is that machine, processor or computer-readable and encoding machine are executable, and processor can be performed or computer is executable
Instruction repertorie.Instruction execution causes some or all of movements for executing the above method.Program storage may include or can
To be such as digital storage, magnetic storage medium such as Disk and tape, hard disk drive or optical readable digital data storage
Medium.Other examples can also cover computer, processor or the control unit or volume of the movement for being programmed to carry out the above method
Journey is to execute (scene) programmable logic array ((F) PLAs) or (scene) programmable gate array ((F) of the movement of the above method
PGAs)。
The description and the appended drawings only illustrate the principle of present disclosure.In addition, table in all example principles enumerated herein
Show and be intended only for teaching purpose, the principle of present disclosure and inventor promote the tribute of prior art institute to help reader to understand
The design offered.Principle, aspect and the exemplary all statements of present disclosure cited herein and its specific example are intended to wrap
Containing its equivalent.
Execution specific function, the functional block for being expressed as " device being used for ... " can refer to the electricity for being configured to execute specific function
Road.Therefore, it is " device for being configured to or being suitable for something " that " device for something " is implementable, for example is configured to or is suitable for
The equipment or circuit of corresponding task.
The function of various elements shown in the figure, including being labeled as " device ", " for providing the dress of sensor signal
Set ", any functional block of " for generating the device of transmitting signal " etc. can implement in the form of dedicated hardware, such as " signal
Provider ", " signal processing unit ", " processor ", " controller " etc., and can be executed in association with software appropriate soft
The hardware of part.When provided by a processor, function can be by single application specific processor, by single shared processor or by multiple lists
Only processor provides, and some of which or all can share.However, term " processor " or " controller " are up to the present
Be not limited to specially be able to carry out the hardware of software, but may include digital signal processor (DSP) hardware, network processing unit,
Application specific integrated circuit (ASIC), field programmable gate array (FPGA), the read-only memory (ROM) for storing software,
Random access memory (RAM) and non-volatile storage.It may also include the hardware of other tradition and/or customization.
Block diagram can for example show the level circuit figure for implementing the principle of present disclosure.Similarly, flow chart, process
Table, state transition graph, pseudocode etc. can indicate various processes, operation or step, can be for example substantially in computer-readable medium
Middle expression, and so executed by computer or processor, regardless of whether being explicitly illustrated such computer or processor.Explanation
Method disclosed in book or claim can be implemented by having the equipment of the device for executing each movement of these methods.
It should be understood that except non-clearly or the other explanation in hint property ground, such as technical reasons, otherwise specification or power
Benefit require disclosed in multiple movements, process, operation, step or function disclosure can be not interpreted as it is specific sequentially
It is interior.Therefore, these will not be limited to specific sequence by the disclosure of multiple movements or function, unless this movement or function
Because technical reason is non-interchangeable.In addition, in some instances, individual part, function, process, operation or step may include or can
It is respectively classified into multiple sub- movements, subfunction, subprocess, sub-operation or sub-step.Unless expressly excluded, otherwise the movement of this seed can
It is included, and is the part of the disclosure of the individual part.
In addition, following claim is incorporated into detailed description herein, wherein each claim can be independently as single
Only example.Although each claim can independently be used as individual example, it should be noted that although dependent claims
The specific combination with one or more of the other claim can be referred in the claims, but other examples may also include subordinate
The combination of claim and mutual subordinate or independent claimed subject matter.Except non-declarative be not intended that is combined with specific,
Otherwise this combination is clearly proposed herein.Furthermore, it is intended that even if certain claim is not directly dependent on certain any independent right
It is required that the independent claims still include the feature of the claim.
Claims (12)
1. the method (200) of the emergency braking of vehicle (110) of the one kind for coordinating a row (100) communication cohesion, the method
Include:
In response to emergency (120), the management entity (110-3) by managing the row (100) determines that (230) are used for the row
(100) independent brake of one or more vehicles (110) controls setting；
By independent brake control setting from the management entity (110-3) communication (240) to one of the row (100) or
Multiple vehicles (110)；And
Make the row's (100) according to its corresponding independent brake control setting received from the management entity (110-3)
One or more vehicles (110) brake (250).
2. according to the method for claim 1 (200), further include:
(210) described emergency (120) are detected by the vehicle (110-1) of the row；And
In response to detecting the emergency (120), by emergency message from the vehicle (110-1) broadcast (220) to the row
Other vehicle (110-2;110-3).
3. according to the method for claim 2 (200), further include:
In response to receiving the emergency message from the vehicle (110-1), in other vehicle (110-2 of the row;In 110-3)
Establish brake pressure.
4. method according to any of the preceding claims (200), wherein independent brake control setting instruction to
The corresponding braking power applied.
5. method according to any of the preceding claims (200), further include:
Independent feature and/or current shape to the management entity (110-3) notice about each vehicle of the row (100)
State.
6. according to the method for claim 5 (200), wherein determining the independent brake control setting of vehicle (110) is
Independent feature and/or current state based on the corresponding vehicle.
7. method (200) according to claim 5 or 6, wherein the independent feature and/or the current state include
At least one of weight, braking power, vehicle spacing, speed, tire condition.
8. method according to any of the preceding claims (200), wherein in the vehicle (110) of the row (100)
Multiple is autonomous or at least partly autonomous vehicle respectively.
9. method according to any of the preceding claims (200), wherein multiple in the vehicle (110) of the row
It is communicated via the communication system of vehicle to vehicle.
10. method according to any of the preceding claims (200), wherein the management entity (110-3) is for institute
It is the vehicle for serving as main vehicle of the row (100) for the other vehicles for serving as subordinate vehicle for the row of stating.
The system (100) of the vehicle (110) of a communication cohesion more than 11. comprising:
First vehicle (110-1) is configured to detection emergency, and will be urgent in response to detected emergency
Message is broadcasted to other vehicles；
Second vehicle (110-3) is configured to the emergency message to determine the corresponding braking for corresponding vehicle
Control parameter, and corresponding independent brake control parameter is sent to corresponding vehicle；And
Third vehicle (110-2) is configured to adjust its brake setting according to its corresponding independent brake control parameter.
12. vehicle (110-3) comprising:
Memory (310) is configured to store the independent feature of other vehicles of the vehicle of row's communication cohesion and/or current shape
State；
Receiver (320) is configured to receive the emergency message of another vehicle from the row；
Processor (330) is configured to the independent of the storage of the emergency message and the vehicle based on the row
Feature and/or current state calculate the independent brake control parameter for corresponding vehicle；And
Transmitter (340) is configured to emit the independent brake control parameter to corresponding vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP17177684.2A EP3418843B1 (en) | 2017-06-23 | 2017-06-23 | Concept of coordinating an emergency braking of a platoon of communicatively coupled vehicles |
| EP17177684.2 | 2017-06-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109109838A true CN109109838A (en) | 2019-01-01 |
| CN109109838B CN109109838B (en) | 2021-04-09 |
Family
ID=59227517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651085.8A Active CN109109838B (en) | 2017-06-23 | 2018-06-22 | Concept for coordinating emergency braking of a bank of communicatively coupled vehicles |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10922979B2 (en) |
| EP (1) | EP3418843B1 (en) |
| KR (2) | KR20190000794A (en) |
| CN (1) | CN109109838B (en) |
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| CN114746314A (en) * | 2019-12-04 | 2022-07-12 | 采埃孚商用车系统欧洲有限公司 | Method and control unit for coordinating vehicles of a fleet during emergency braking |
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| FR3078786A1 (en) * | 2018-03-08 | 2019-09-13 | Orange | METHOD FOR ADAPTING THE SPEED OF VEHICLES MOVING INTO CONVOY |
| JP2019162988A (en) * | 2018-03-20 | 2019-09-26 | 本田技研工業株式会社 | Vehicle control device and vehicle control method |
| JP2020087206A (en) * | 2018-11-29 | 2020-06-04 | 株式会社日立製作所 | Autonomous body system and control method therefor |
| US11462111B2 (en) * | 2019-04-29 | 2022-10-04 | Qualcomm Incorporated | Method and apparatus for vehicle maneuver planning and messaging |
| US11161487B2 (en) * | 2019-08-15 | 2021-11-02 | Bendix Commercial Vehicle Systems Llc | System and method for controlling wheel brakes in a vehicle platooning with another vehicle |
| EP3798075B1 (en) * | 2019-09-25 | 2023-08-02 | Ningbo Geely Automobile Research & Development Co. Ltd. | A method for driving a vehicle platoon |
| US20230129199A1 (en) * | 2020-04-09 | 2023-04-27 | Bayerische Motoren Werke Aktiengesellschaft | Method of coordinating one or more maneuvers among vehicles |
| KR20220056305A (en) * | 2020-10-27 | 2022-05-06 | 현대자동차주식회사 | Platooning controlling apparatus based on driver condition, system having the same and method thereof |
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Also Published As
| Publication number | Publication date |
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| US20180374366A1 (en) | 2018-12-27 |
| EP3418843A1 (en) | 2018-12-26 |
| CN109109838B (en) | 2021-04-09 |
| US10922979B2 (en) | 2021-02-16 |
| EP3418843B1 (en) | 2021-03-17 |
| KR20200096193A (en) | 2020-08-11 |
| KR20190000794A (en) | 2019-01-03 |
| KR102371875B1 (en) | 2022-03-08 |
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